CN102564432B

CN102564432B - Road estimation device and the method being used for estimating road

Info

Publication number: CN102564432B
Application number: CN201110378308.6A
Authority: CN
Inventors: 佐藤太; 佐藤太一
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2010-11-24
Filing date: 2011-11-24
Publication date: 2016-09-28
Anticipated expiration: 2031-11-24
Also published as: EP2458331B1; EP2458331A2; US8768011B2; EP2458331A3; CN102564432A; US20120128215A1

Abstract

Road estimation device receives the data including core point (CPa, CPb), is used for identifying the attribute of road along link allocation core point and for its distribution.Input block (13) is that unit input includes the map datum in section with zoning (Pa, P2, P3).Each section has the terminal in border, zoning.Section has the attribute corresponding with the attribute of core point (CPa, CPb).At core point (CPa, when CPb) being present in outside border, zoning, generation unit (S110, S120) produces virtual core point on the border in the map datum of input, and attribute of based on core point (CPa, CPb) is to virtual core point distributive property.Extraction unit (S130) extracts candidate road section according to the attribute of section, core point (CPa, CPb) and virtual core point from map datum, and described candidate road section is road candidates.

Description

Road estimation device and the method being used for estimating road

Technical field

The present invention relates to a kind of road being configured to extract the section corresponding with the road that core point represents estimate Meter equipment, each core point includes the attribute for identifying road on map.The invention still further relates to one The method planting the road represented for estimation by core point.

Background technology

It is known that information of vehicles and communication system (VICS) are a kind of for broadcast traffic information Regular service.Implementing this service is to provide a user with various transport information and information of vehicles. Such as, VICS center is allowed to send transport information to vehicle, such as about the traffic congestion information of road. Additionally, allow mobile unit searching map data to identify road.Additionally, allow display device according to reception The transport information arrived changes the display pattern of road.This service allows users to obtain in real time transport information, Such as traffic congestion information.

Vehicle arrangement stores map datum, and map datum includes the form by section and node definition Road data.Section represents that node is the road of terminal.VICS center sends VICS section, and this is to use In the information identifying road.Distribute various transport information for VICS section, and change about display pattern Command information.Vehicle arrangement has reference by location table, is used for comparing in VICS section and map datum Section.Vehicle arrangement searches for the section corresponding with VICS section with reference to this table.That is, VICS system Be reference by location table must have (such as, with reference to JP-A-2006-275777 and JP-A-2009-270 953)。

As the alternative service of VICS system, design utilizes with transport protocol expert group (TPEG) form It is sent to the traffic information data of the terminal unit of such as vehicle arrangement.It is noted that sending TP In the case of EG data, represent position with the form of such as dynamic position reference data (DLR data) Information.Positional information includes that core point, each core point have position coordinates and identify the genus of road Property.Generally, the formal distribution core point of the multiple arrays to arrange along road.Represent using core point In the system of positional information, reference by location table is unnecessary, according to the map data manufacturer, map The form of data and the difference of version, reference by location table may be different.That is, use core point The road (section) that is capable of identify that on map datum of system, no matter the map datum in vehicle arrangement is What.

On the contrary, the system using core point needs various process with according to core point identification road.Such as, As it has been described above, there is various map datum.Therefore, the road of map datum may not there is core Point.It then becomes necessary to carry out processing to identify the road corresponding with the road that the core point on map represents Section.

Inputting map datum in units of zoning, zoning is multiple to be divided one of region. Multiple region is formed by map datum being divided into some.Zoning is referred to as section.Such as, When indicating map, in units of zoning, enforcement processes.It is therefoie, for example, extend at road In the case of outside zoning, it is contemplated that necessity of process, the road corresponding with the road of map datum Segment endpoint, such as node, be necessarily dispensed in the border of zoning.

The core point of distribution is the multiple arrays along road arrangement.Generally, the position of core point exceeds The border of map datum zoning.Corresponding to core point, distribute the most for convenience Road segment end, may be incidentally present of on border.Even so, generally eliminate such situation, The core point corresponding with distribution road segment end in border, zoning does not exists.As a result, Ke Nengnan To identify the section corresponding with the road that core point represents in zoning.

Summary of the invention

In view of above and other problem, it is an object of the invention to provide a kind of road estimation device, be used for Suitably estimate to represent with the core point map datum zoning from the distributed intelligence about core point Section corresponding to road.Another purpose is to propose the side of the road that a kind of estimation is represented by core point Method.

According to an aspect of the present invention, a kind of road estimation device is configured to receive from external object include The data of multiple core points, described core point along link allocation and is respectively allocated for identifying described for it The attribute of road；Road estimation device is configured to extract the section corresponding with the road that core point represents, For estimating road on map, this road estimation device includes map data input unit, is configured Including the map datum in section from input in units of zoning, described zoning is multiple divisions One of region, each section has the terminal in border, zoning, described section be respectively provided with The attribute that the attribute of described core point is corresponding.It is single that this road estimation device also includes that virtual core point produces Unit, is configured to, and time outside core point is present in border, zoning, produces virtual core point, i.e. The borderline new core point of zoning in the map datum of map data input unit input, and base In the attribute of core point to virtual core point distributive property.This road estimation device also includes that section is extracted Unit, is configured to, according to attribute, the attribute of described core point and the described virtual core in described section The attribute of point extracts candidate road section, the road candidates that the most described core point represents from described map datum.

According to a further aspect in the invention, it is provided that a kind of method for estimating road, the method bag Including and receive the data including multiple core point from external object, described core point is along link allocation difference Attribute for identify described road is assigned.The method also includes inputting in units of zoning Including the map datum in section, described zoning is one of multiple zoning, each described section All having the terminal in border, described zoning, described section is respectively provided with and the genus of described core point The attribute that property is corresponding.The method is additionally included in core point when being present in outside border, zoning, produces Virtual core point, described virtual core point is the borderline new core in zoning in the map datum inputted Heart point.The method also includes that attribute based on described core point is to described virtual core point distributive property. The method also includes the attribute according to described section, the attribute of described core point and described virtual core point Attribute from described map datum extract candidate road section, described candidate road section is that described core point represents Road candidates.

Accompanying drawing explanation

By the detailed description below with reference to accompanying drawing, the above and other purpose of the present invention, feature and excellent Point will become more obvious.In the accompanying drawings:

Fig. 1 shows the block diagram of navigator configuration；

Fig. 2 shows the functional-block diagram of control circuit work；

Fig. 3 shows the flow chart of matching treatment；

Fig. 4 shows the explanatory diagram of the attribute of CP after conversion；

The value that Fig. 5 shows attribute FC and the explanatory diagram associating content；

The value that Fig. 6 shows attribute FW and the explanatory diagram associating content；

The value that Fig. 7 shows attribute IT and the explanatory diagram associating content；

Fig. 8 shows the flow chart of the conversion process in matching treatment；

Fig. 9 shows the explanatory diagram of the road represented by CP present on object section；

Figure 10 A, 10B show the explanatory diagram of the process in virtual CP distribution and border, section；

Figure 11 shows attribute PCI and really establishes rules explanatory diagram then；

Figure 12 shows the flow chart that in matching treatment, candidate road section search processes；

Figure 13 A, 13B show object CP region of search and the explanatory diagram of section retrieval；

Figure 14 shows the flow chart that during candidate road section search processes, section array selection processes；

Figure 15 A, 15B, 15C, 15D show the explanatory diagram extracting section array in region of search；

Figure 16 shows the flow chart that the candidate's selection in matching treatment processes；

Figure 17 shows the coincidence judgement process during candidate's selection processes according to the irrelevant attribute of shape Flow chart；

Figure 18 shows the stream of the coincidence judgement process during candidate's selection processes according to shape association attributes Cheng Tu；

Figure 19 A, 19B show the explanatory diagram that the coincidence judgement according to attribute BR processes；

Figure 20 shows the weight during the coincidence judgement according to shape association attributes processes according to attribute PCI Close the flow chart that judgement processes；

Figure 21 A, 21B show the explanation that the coincidence judgement according to attribute CA and property DC A processes Figure；

Figure 22 shows the flow chart that in matching treatment, path adaptation processes；

Figure 23 A, 23B, 23C, 23D show the explanation of the omission method processed for path search Figure；

Figure 24 A, 24B, 24C show the explanatory diagram of the omission method processed for path search；

Figure 25 A, 25B, 25C, 25D show the explanation of the method for shutting down processed for path search Figure；

Figure 26 shows path adaptation and processes the flow chart that the candidate's selection of Zhong Zhu road processes；

Figure 27 A, 27B show the explanation that the Model choices according to attribute CA and property DC A processes Figure；

Figure 28 shows the explanatory diagram that the Model choices according to attribute BR and attribute DMB processes；

Figure 29 shows the explanatory diagram calculating link length according to attribute PD；

Figure 30 A, 30B, 30C show the explanatory diagram that the Model choices according to attribute PD processes；

Figure 31 A, 31B show the explanatory diagram that the Model choices according to attribute PDM processes；And

Figure 32 A, 32B, 32C show road and determine the explanatory diagram of method.

Detailed description of the invention

(embodiment)

Below with reference to accompanying drawing, embodiment is described.

The configuration of navigator will be described with reference first to Fig. 1.Navigator 10 shown in Fig. 1 can be filled Work as road estimation device.Specifically, navigator 10 is configured to receive transport protocol expert group data (TPEG data), carry out path adaptation based on positional information contained in data, and corresponding to road profit The transmission of transport information instruction is carried out with positional information.

Navigator 10 shown in Fig. 1 includes reception equipment 11, position sensor device 12, map number According to input equipment 13, operation equipment 14, voice-output device 15, instruction equipment 16 and control circuit 17。

Reception equipment 11 is for receiving TPEG data from center 20.Navigator 10 makes control circuit 17 are tuned, and obtain TPEG data from there through reception equipment 11.

Position sensor device 12 is used for the current location of the vehicle of detection equipment navigator 10.Position Put sensor device 12 and include various equipment, such as known gyroscope, range sensor and/or GPS Receiver.

Map datum input equipment 13 include store map datum storage medium, such as hard disk and/or DVD device.Map datum input equipment 13 is configured in control circuit 17 input in storage medium to be deposited The map datum of storage.In addition to the hard disk of storage map datum, map datum input equipment 13 is permissible Including DVD drive.Map datum input equipment 13, navigator 10 is utilized to be configured in hard disk The excessive data of map datum is installed.Excessive data can optionally be supplied, can be as dvd media pin Sell.In units of section, manage map datum and charge in units of section.

Operation equipment 14 is used for allowing users to input instruction in control circuit 17.Operation equipment 14 Can include being positioned at the touch panel at instruction equipment 16, be equipped in navigator 10 body surfaces And/or the operation switches set on remote controllers and/or other equipment.Allow users to be set by operation The standby 14 various operations carrying out navigator 10, such as destination determines that operation, map scale change Become the scroll operation of operation and/or map.

Voice-output device 15 includes audio frequency apparatus, such as in response to the signal from control circuit 17 The speaker guiding voice etc. is exported to user.Instruction equipment 16 has panchromatic instruction function.Instruction sets Standby 16 are configured at the Map produced based on the map datum received from map datum input equipment 13 As upper superposition is based on the transport information receiving the TPEG data generation that equipment 11 obtains.

Control circuit 17 be configured similarly to known microcomputer, including such as CPU 17a, ROM The parts of 17b, RAM 17c, I/O equipment and the bus of connection member.CPU 17a is according to ROM 17b The program of middle storage implements various operations.Reception equipment 11 can receive TPEG data, including such as The information of positional information, positional information is dynamic position reference data (DLR data).Control circuit 17 The related roads in map datum is estimated based on positional information.

It follows that the function that the control circuit 17 relevant to processing TPEG data will be described with reference to Fig. 2. Fig. 2 shows the explanatory diagram of control circuit 17 function.

The function of control circuit 17 is divided into tuning chunk 171, application chunk 172, DLR storehouse chunk 173 and image chunk 174.Tuning chunk 171 is configured to receive TPEG data via reception equipment 11. That is, tuning chunk 171 has above-mentioned tuber function.The TPEG number that tuning chunk 171 will receive According to being sent to application chunk 172.

Application chunk 172 is the function that application program produces.Application program is stored in ROM 17b also Performed by CPU 17a.

Application chunk 172 manages the TPEG data sent from tuning chunk 171 and is receiving new TPEG TPEG data are updated during data.Application chunk 172 also includes for identifying as to point out in the plane The information of section (object section) of object.According to scale size, screen can include single Object section, maybe can include multiple object section, such as nine object sections.Application chunk 172 The information about object section and the positional information conduct of TPEG data is sent to DLR storehouse chunk 173 Object data.

DLR storehouse chunk 173 is the function that DLR library produces.It is similar to application program, DLR storehouse journey Sequence is stored in ROM 17b and is performed by CPU 17a.

DLR storehouse chunk 173 performs matching treatment described below.Implementing matching treatment is for basis The positional information of TPEG data estimates being correlated with from the map datum of map datum input equipment 13 input Road (section).Before matching treatment, the request sent in response to application chunk 172, DLR storehouse Chunk 173 reads map datum from map datum input equipment 13 to RAM 17c.DLR storehouse chunk 173 send the result of matching treatment as matching result to application chunk 172.

Application chunk 172 managerial fit result.Additionally, image chunk 174 is carried out based on matching result Map rejuvenation.Then, as mentioned above, based on the map number inputted from map datum input equipment 13 According to map image on the transport information of based on TPEG data of superposition.

3. matching treatment

As it has been described above, DLR storehouse chunk 173 is configured to perform matching treatment.Matching treatment is described below. Fig. 3 shows the flow chart of matching treatment.

At S100, carry out conversion process.Carrying out conversion process is for the position using the DLR as TPEG Confidence breath (binary data) is transformed into intermediate data.Having said, discrete point is mainly used as TPEG The positional information of data.These discrete points are core point (CP).CP has each attribute.Join this In putting, the attribute needed for retrieval road estimation is to produce intermediate data.

The attribute of CP<3.1 converted>

Fig. 4 shows and is transformed into the attribute that the CP of intermediate data includes.Generally, multiple CP is sent Positional information as TPEG data.Therefore, CP is managed as data array.Can be with base Position is estimated in single CP.In such a case, it is possible to send single CP.

The base attributes such as latitude, longitude, IP labelling and virtual CP labelling are included with reference to Fig. 4, CP.Latitude Degree is the coordinate representing CP latitude, and longitude is the coordinate representing CP longitude.Whether IP labelling represents CP It it is crossing.When CP represents crossing, IP labelling is set as 1, and otherwise IP labelling is set as 0.Virtual CP labelling represents whether CP is virtual CP.When CP represents virtual CP, virtual CP labelling is set as 1, The most virtual CP labelling is set as 0.Virtual CP will be described after a while.

CP includes the various attribute about the road connecting CP.Attribute is divided into relevant to road shape Shape association attributes and the uncorrelated attribute of the shape unrelated with road shape.First shape not phase will be described Close attribute.

Attribute FC represents classification of road.As shown in the example of Fig. 5, road is divided into ten grades, bag Include 0 to 9 grades.Numeral 0 represents that major trunk roads, numeral 1 represent that first kind road, numeral 2 represent the Two class roads.Similarly, road is divided into from 3 the 3rd class roads represented to 9 the 9th classes represented The grade of road.Such as, major trunk roads are connected to country or capital, and first kind road connects therebetween The national highway of main cities.

Attribute FW represents physics reason type.As shown in an example of Fig. 6, physical road type is divided It is ten three types, including 0 to 13.In figure 6,0 represents not clear, 1 expression highway, 2 Representing the multilane highway outside highway, 3 represent single-lane highway, and 4 represent rotating disk, and 5 represent Traffic square, 6 represent by the traffic zone of cincture, and 7 represent bypass, and 8 represent feeder road, 9 tables Showing entrance or the outlet in parking lot, 10 represent entrance or the outlet of service areas, and 11 represent walking areas, 12 Represent passageway.

If road is assigned circuit number, attribute RD is denoted as the RD value of circuit number.Example As, RD value can represent country's circuit number, such as, in the case of road is circuit 1, be worth for " 1 ". In the presence of circuit number not, distribution road name is as RD value.With reference to Fig. 4, road name includes The formal name of most five characters.

In the diagram, attribute IT represents the classification (crossing classification) at crossing.An example such as Fig. 7 Shown in, crossing classification is divided into seven kinds, including 0 to 6.In the figure 7,0 represents undefined, 1 Representing highway or the interchange of limited speed, 2 represent rotating disk, and 3 represent except classification 1 and 2 Outside complex crossing, 4 represent simple crossings, and 5 represent traffic squares, and 6 represent circuit number or roads The two-value crossing of road title change.

In the diagram, attribute RDI represents the title at crossing.

In the diagram, attribute DD represents lawful steering direction.Such as, 0 represents legal permission Steering direction undefined, 1 represent lawful steering direction be forward direction, 2 represent lawful Steering direction is backward, and 3 represent that lawful steering direction is both direction.Attribute AFR is labelling, Represent whether attribute DD refers to.Value at attribute DD is 0 to 3 for the moment, and attribute AFR is set It is 1.Otherwise, attribute DD void value when, attribute AFR is set as 0, represents attribute DD not Refer to.

<3.1.2 shape association attributes>

It is described below shape association attributes.

In the diagram, attribute BR represents the geographical angle between follow-up CP.As it has been described above, generally Multiple CP are managed as data array.Attribute BR represents clockwise relative to north direction The value of angle.

In the diagram, attribute DMB represents the air line distance between follow-up CP.It is similar with attribute BR, Attribute DMB represents the air line distance value between follow-up CP, because being typically follow-up CP's.

Attribute CA represents the angle relative to bypass.Bypass is relief road, unallocated circuit number. Having bypass when, distributive property CA is with the value of angle between representing and bypassing.Bypass relative to The angle of attribute BR along clockwise direction time, attribute CA be on the occasion of, bypass relative to attribute BR's Angle in the counterclockwise direction time, for negative value.Property DC A represent and bypass between connection distance.

That is, attribute CA represents the direction vector starting from CP, and property DC A represents the vector starting from CP Size.Therefore, position coordinates is determined by attribute CA and property DC A.Position coordinates represents that bypass exists Point.

In the diagram, attribute PCI represents that same direction exists selected highway (road) during a plurality of highway One of.Attribute PCI includes highway quantity and represents object road sequence number of order in highway.

In the diagram, attribute PDM represents object road and is connected between the linear interval of follow-up CP opens Space from.Spacing distance represents the ultimate range between object road.In the diagram, attribute PD table Show the operating range along the object road leading to the CP including follow-up attribute PD.

As it has been described above, describe to be transformed into the attribute of the CP of intermediate data.When converting CP, increase Add virtual CP, carry out calculating again of CP attribute.Fig. 8 shows the detailed process of conversion.

In fig. 8, at S110, virtual CP is distributed to the border of object section.Fig. 9 is explanatory diagram, For convenience, it is shown that double dot dash line represents the road shape that CP represents.Purpose is that estimation is such The road that road shape the section array to road shape and the map datum estimated represent is carried out Join.It is noted that the road shape represented by double dot dash line in Fig. 9 be for convenience of explanation for the sake of The example simplified, does not indicates that the road shape of reality.CP array can be within object section.Otherwise, It is further noted that as it is shown in figure 9, CP array can extend beyond object section arrives object section week The section enclosed.In this case, virtual CP is distributed to the border of object section.

Specifically, Figure 10 A shows that CPa and CPb is positioned at the feelings of object section boundaries on either side Condition.In such a case, it is possible to the value of dependence PDM derives the peak V of road shape.Additionally, also lead The line segment being connected by peak V with CPa of road shape, and the line segment being connected by peak V with CPb are gone out. Then, virtual CP is distributed to the intersection point between one of line segment and border, object section.

As described below, by increasing symbol a, b, c etc., CP is expressed as CPa, CPb, CPc etc., To distinguish multiple CP.

At follow-up S120, recalculate the attribute of CP.Owing to being assigned with virtual CP, so from wanting The CP (being described later on) processed eliminates the CP (end side CP) of end side.Example at Figure 10 A In, from CP to be processed, get rid of the CPb of end side.Therefore, the CP recalculated on starting side (opens Beginning side CP) attribute and the attribute of virtual CP.In the example of Figure 10 A, recalculate the genus of CPa Property and the attribute of virtual CP.Attribute to be recalculated include attribute BR, attribute DMB, attribute PCI, Attribute CA, property DC A, attribute PDM and attribute PD.

The angle relative to follow-up CP is represented respectively and to follow-up with reference to Fig. 4, attribute BR and attribute DMB The air line distance of CP.Therefore, the angle relative to follow-up CP is calculated and arranges and away from follow-up CP's Air line distance, follow-up CP includes newly assigned virtual CP.

Do not recalculate attribute CA and property DC A of CP on starting side.In the example of Figure 10 A, weight The new attribute calculating CPa and the attribute of virtual CP.Attribute CA and property DC A of virtual CP are arranged In illegal value.Process in this way, because attribute CA is relevant to bypass with property DC A, This information of bypass is not suitable for virtual CP.

It is correlated with highway (road, the track) number extended in parallel with reference to Fig. 4, attribute PCI.Therefore, Do not recalculate the attribute PCI of CP on starting side.In the example of Figure 10 A, do not recalculate CPa Attribute PCI.According to the attribute PCI of CP on starting side and end side, the attribute PCI of virtual CP is set. In the example of Figure 10 A, the attribute PCI of virtual CP is set according to the attribute PCI of CPa and CPb.

Figure 11 shows the detailed computation rule of the attribute PCI of virtual CP.CP and end when starting side When the CP of side is respectively provided with attribute PCI, and when the attribute PCI of two CP is consistent with each other, will The attribute PCI of virtual CP is arranged on the value identical with the attribute PCI of two CP.Otherwise, at two CP Attribute PCI the most inconsistent time, the attribute PCI of virtual CP is arranged on illegal value.

When one of CP on starting side and the CP on end side has attribute PCI, when virtual CP position Time near the CP with attribute PCI, the attribute PCI of virtual CP is arranged on the attribute of this CP PCI value.Otherwise, when one of CP on starting side and the CP on end side has attribute PCI, and When virtual CP is not near the CP with attribute PCI, the attribute PCI of virtual CP is arranged on non- Method value.In this case, such as from virtual CP to the air line distance of the CP with attribute PCI Be 10% of air line distance between the CP on starting side and the CP on end side or less time, it is determined that virtual CP is near the CP with attribute PCI.

Otherwise, when the CP on starting side and the CP on end side does not has attribute PCI, by virtual The attribute PCI of CP is arranged on illegal value.In the diagram, attribute PDM represents object road and is connected to The spacing distance that the linear interval of follow-up CP is opened.The value of the attribute PDM before distributing virtual CP is taken advantage of With corrected value with the PDM that sets a property.Specifically, after calculating the division speed of virtual CP, and use Continuous formula calculates corrected value.

(i) division proportion less than 50% time,

Corrected value=0.6 × division proportion/100 (formula 1)

(ii) when division proportion is more than or equal to 50%,

Corrected value=1.4 × division proportion/100-0.4 (formula 2)

Use subsequent formulae computation partition ratio.

When recalculating the attribute PDM of CP on starting side, division proportion is:

Air line distance between starting side CP and virtual CP/between starting side CP and end side CP total Air line distance (formula 3)

When calculating the attribute PDM of virtual CP, division proportion is:

Air line distance between virtual CP and end side CP/between starting side CP and end side CP total Air line distance (formula 4)

Total air line distance is that the CP from starting side passes through virtual CP to the straight line path of CP on end side Air line distance sum.That is, total air line distance is the straight line on starting side between CP and virtual CP Air line distance sum between CP on distance and virtual CP and end side.

It is the operating range to next CP with attribute PD with reference to Fig. 4, attribute PD, may not be divided It is fitted on all CP.Therefore, it is positioned at two CP outside border, section and is likely not to have attribute PD.Therefore, One of CP of CP and closest virtual CP with attribute PD is used to recalculate.Do not having When there is the CP of attribute PD, do not carry out recalculating of attribute PD.

When recalculating attribute PD, divide in proportion according to the air line distance with virtual CP and be assigned to The value of the attribute PD of CP.That is, utilize formula 3 to count by being multiplied by by the original value of the attribute PD of CP The division proportion calculated calculates the value of the attribute PD of CP.Additionally, by by the attribute of CP on starting side The original value of PD is multiplied by the division proportion utilizing formula 4 to calculate to calculate the value of the attribute PD of virtual CP.

The process range of CP<4.2 reduce>

With reference to Fig. 8, at S130, reduce the scope process to the CP within object section.Carry out this Process within only arranging object section, to include the CP of virtual CP, process object with acquisition.The battle array of CP Row may expand to outside border, object section.Even so, also be enough to only match refer to as application Show the object section of object.

<4.2.1 does not distribute the method for virtual CP>

In the present embodiment, CP is present on border, object section, because being assigned with virtual CP.Assume Under such circumstances, by virtual CP definition process object.It is noted that provided DLR can be utilized The original CP that data include is as the CP process on the end side of object section.

Such as, as shown in Figure 10 B, at CP in the case of border, object section extends above, permissible CPa in object section is used as the CP on end side.Or, can will primarily occur in object sheet CPb outside district is used as the CP on end side.It is noted that CPa and/or CPb may be located remotely from right Border as section.Under the circumstances, for example, it is possible to according to CPa and CPb away from object section The distance on border, selects one of CPa and CPb as the CP on end side.

As an example, as shown in Figure 10 B, it is contemplated that calculate and connect the straight line of CPa with CPb and right As the intersection point K on border, section and according to air line distance A to intersection point K and air line distance B to intersection point K Determine how far.

In this case, an example is that the CPb outside object section is generally set to end by design The CP of side.Otherwise, in this example, when air line distance B is more than or equal to predetermined value, permissible The CP that CPa within target section is set on end side.In this example, the district that CPb defines Territory may become processing object.Therefore, it can search and lead to the road on border, object section.Then, Can fully indicate transport information, such as traffic congestion information.Or, in this example, at CPb When representing highway or when CPb is extremely remote away from border, object section, such as, the region that CPa defines is Process object.Therefore, in such a case, it is possible to restriction processes the time in order to avoid long.

Or, another example is to expect generally being set on end side by the CPa within object section CP.Otherwise, in this example, when air line distance A is more than or equal to predetermined value, by target patch CPb outside district is set to the CP on end side.In this example, the region generally defined by CPa It is to process object, the most as far as possible minimizing to process the time.Or, at CPa away from pole, border, object section Time remote, such as, the region that CPb defines is for processing object.Therefore, it can search and lead to limit, object section The road on boundary.Thus, it is possible to avoid transport information, such as traffic congestion information insufficient.

Or, as another example, it is contemplated that compare air line distance A and air line distance B.In this example, When air line distance A is less than air line distance B, the CPa within target section is set on end side CP.Otherwise, when air line distance B is less than air line distance A, the CPb outside object section is set The CP being set on end side.In this example, the CP on end side is determined according to air line distance A, B. When determining that the region that CPb defines is to process object, may search for the road towards border, object section. Thus it is possible to fully indicate transport information, such as traffic congestion information.Or, CPa is being defined Region be defined as process object time, be reduced as far as the process time.

In both cases, compared with the configuration distributing virtual CP, favourable is all the reduction of distribution void Intend the process time of CP, it is also possible to during the process that the attribute that the minimizing virtual CP of distribution causes recalculates Between.

At the S130 of Fig. 8, along with also there occurs attribute as the determination of the CP processing object Inherit.

In the CP as DLR data, only represent crossing and there is the CP of the IP labelling being set to 1 Including each attribute.Therefore, the uncorrelated attribute of the shape of this CP is inherited to the CP existed between crossing. In this way, it is convenient to omit the collection of each attribute uncorrelated to shape in the process being described later on. Specifically, attribute to be inherited is attribute FC, attribute FW, attribute RF, attribute DD and attribute AFR.

In above-mentioned conversion process, produce the CP array being transformed into intermediate data.That is, now, CP There is each attribute shown in Fig. 4.At least one in the node of map datum and section also have with The attribute that CP attribute is corresponding.Therefore, eventually through the road that relatively various attributes estimation are represented by CP.

With reference to Fig. 3, at the S200 of matching treatment, carry out candidate road section search process.In candidate road section During search processes, search for candidate road section array, carry out, for each section, the process that reduces the scope afterwards. At ensuing S300, carry out candidate's selection process.Carry out candidate to select to process to reduce further The scope in the section through reducing at S200.At ensuing S400, carry out path adaptation process.Carry out Path adaptation processes the section being connected between CP with estimation.The process of S200 to S400 is held repeatedly The number of the row object CP that S130 reduces the scope the most in fig. 8.

This process is discussed in detail below.Figure 12 shows what the candidate road section search at S200 processed Example.At S210, first obtain the information of object CP.Carry out processing to obtain the classification of CP, CP Latitude and the longitude of CP.The classification of CP represents the difference between CP, and it represents crossing, virtual CP With other CP.

At ensuing S220, region of search is set.Carry out this process to arrange road near object CP The region of search of section.Such as, as shown in the dotted line in Figure 13 A, region of search has by polygon circle Fixed border, polygon includes vertical segment and horizontal line section.In the present embodiment, by including combination Square and criss-cross region deviding region of search together.Cross is than a foursquare limit Longer.

In ensuing S230, the section that retrieval is positioned in region of search.Carry out this process with retrieval All sections relevant to region of search during selection section array, it is contemplated that node and section are by each Section management.Such as, as shown in Figure 13 B, retrieved three section P1, P2 according to region of search And P3.

At ensuing S240, carry out section array selection and process.Carry out section array selection process with Section is searched for, it is thus achieved that each section array according to the uncorrelated attribute of shape.Section array is to include that one is Row have the section group of the link of same link classification, such as highway or local road.This In process, in the middle part of the section of S230 retrieval, point section array included is object search.In brief, In present stage, first reduce the scope of section array according to attribute, it is not necessary to judge that whether section array exists In region of search.

<5.1 section array selections process>

Section detailed below array selection processes.Figure 14 shows at the array selection of section One example of reason.In section array selection processes, according to attribute FC, attribute FW and attribute RD Extracting for each section array, each attribute is the uncorrelated attribute of shape.

At S241, by the range shorter of section array to the section array with same alike result FC.Reference Fig. 5, as it has been described above, attribute FC represents classification of road.In such a process, section battle array will be distributed to The classification of road in section of row compares the scope reducing section array with the attribute FC of object CP.Want It is noted that classification of road may change during the array of section.Under the circumstances, on road When the classification of road in all sections of section array is consistent with attribute FC, it is determined that section array is candidate road section Array.

At S242, by the range shorter of section array to the section array with same alike result FW.Reference Fig. 6, as it has been described above, attribute FW represents physical road type.In such a process, road will be distributed to The physical road type in section of section array compares to extract section array with the attribute FW of object CP. It is noted that physical road type may change during the array of section.Under the circumstances, When the physical road type in all sections of section array is consistent with attribute FW, it is determined that section array is Candidate road section array.

At S243, by the range shorter of section array to the section array with same alike result RD.Reference Fig. 4, as it has been described above, attribute RD represents circuit number or road name.In such a process, only exist The when that attribute RD representing circuit number, just judge the concordance of circuit number.In this case, Compare to reduce section by the attribute RD of the circuit number and object CP of distributing to the section of section array The scope of array.It is noted that circuit number may change during the array of section.Consider This situation, when the circuit number in all sections of section array is consistent with attribute RD, it is determined that section Array is candidate road section array.

Carry out section array selection in this way to process, reduce the scope according to the uncorrelated attribute of shape , the section array i.e. extracted remains candidate road section array.

S250 in fig. 12, extracts the region of search centered by object CP, i.e. around object CP The section that middle part point includes.Section array is selected in the section array selection of S240 processes.Therefore, In such a process, from the section of road section selected array, extract point section included in the middle part of region of search.

Here point section included in the middle part of region of search will be described.It is described below doing under following premise Go out: under normal circumstances node is assigned to crossing, node is assigned to the border of section, at needs Time shape interpolated point is set among the nodes.

<5.2.1 example: object CP is crossing>

When object CP represents crossing, carry out node consciousness process.Carry out the process of node consciousness to be because Object CP and node matching when object CP represents crossing.Therefore, in this case, in search Region includes that two, section node is for the moment, it is determined that section is point section included in the middle part of region of search.

For example, it is assumed that the object CP shown in Figure 15 A represents crossing.In this case, by the field of search Node A, B, C that territory includes mate with object CP.Therefore, a terminal is node A, B, C One of section L1, L2, L3, L4, L5 be each the section point included in the middle part of region of search.

It is noted that the level of map datum (section level) is corresponding to its scale size.Sheet Region layer time changes along with user's switching proportion chi size.Therefore, road is implemented for all sections level The extraction of section.Such as, in the way of LV0 to LV2 to LV4 to LV6 arrives LV8 to LV10 etc., from Lower level sets gradually section level.Along with section level is increased to higher level, crossing and road Reduce.

CP is and corresponding for the LV0 data as minimum section level.Therefore, at the sheet higher than LV2 In region layer time, the node corresponding with crossing may not be there is.Under the circumstances, higher than LV2's In extraction process on the level of section, even if there is not the node in section in region of search, in section Also section is extracted in the case of meeting predetermined condition.After a while description is met the reality in the section of predetermined condition Example.

<5.2.2 example: object CP is virtual CP>

When object CP represents virtual CP, it is also carried out node consciousness and processes.The specification of map datum is adjusted Whole to define node in border, section.Therefore, when object CP is virtual CP, on border, section The virtual CP of middle distribution.In view of this, when node is present in border, same section, by node with empty Intend CP coupling.

Then, a joint in one of section node is present in border, section and present in border, section When point is included in region of search, it is determined that this section is point section included in the middle part of region of search.

Such as, as shown in fig. 15b, it is assumed that object CP represents that virtual CP, node D are present in limit, section In boundary.In this case, using node D as the section L6, L8 of a terminal be in region of search The section that part includes.

<5.2.3 example: object CP is neither crossing is not virtual CP>

In this case, it is not known that object CP whether with node matching.Therefore, do not realize at node Section is extracted in the case of arriving.In brief, at object CP neither crossing is not virtual CP In the case of, in the case of section meets predetermined condition, extract at least one node and be included in the field of search Section in territory and any node all sections not included in region of search.In this case, All sections level carries out the extraction in section in a similar manner.

The example of predetermined condition<the 5.2.4 section meet>

In following two example, section meets predetermined condition.In one of two kinds of examples, at two Shape interpolated point is set between node, in the middle part of region of search, divides the line segment including connecting shape interpolated point. Such as, as shown in figure 15 c, section L9 includes the line segment connecting shape interpolated point (pore), searches The line segment including section L9 is divided in the middle part of rope region.Therefore, although node E, F are not included in the field of search In territory, but section L9 remains point section included in the middle part of region of search.On the other hand, section L10 Including the line segment of connection shape interpolated point, the line segment of section L10 is not partly comprised in region of search. Therefore, section L10 is not point section included in the middle part of region of search.In the another kind of two kinds of examples, It is not provided with shape interpolated point between the two nodes, divides in the middle part of region of search and include connecting two nodes Line segment.Such as, as shown in figure 15d, section L11 includes two node G, H connected by line segment, This line segment is partly comprised in region of search.Therefore, section L11 is to divide in the middle part of region of search to include Section.

<5.2.5 other>

With reference to Figure 12, at ensuing S260, the section that in the middle part of region of search point includes is reduced the scope, Become the consistent section of attribute RD.When attribute RD represents circuit number, S243 in fig. 14 Judge.Therefore, in this processes, when attribute RD represents road name, according to link name Claim to judge concordance.Regulation road name includes most five characters.Therefore, it is judged that as attribute RD The character string of value whether be included in the road name distributing to section.

At S270, extract most ten sections.Specifically, when the number in section is more than ten, After S260 reduces the scope, a section near object CP selects ten sections successively.Tool For body, for example, it is possible to from object CP to each section draw vertical line, with measure object CP and Distance between each section, thus judges that whether section is near object CP.

<5.3 candidate's selections process>

The candidate's selection being described below S300 in Fig. 3 processes.Carry out candidate to select to process to select The candidate of each one of section and node.Figure 16 shows the example that candidate's selection processes.

At S310, carry out concordance judgement according to the uncorrelated attribute of shape.In such a process, according to Attribute FC, attribute FW, attribute IT, attribute RDI, attribute DD and attribute AFR, at S200 The section extracted and/or the node in extracted section carry out concordance judgement.Will be described in after a while overlapping The details that judgement processes.The section array of S241, S242 in fig. 14 reduce the scope process in Through employing attribute FC and attribute FW.Therefore, this process can include that redundancy processes.Even so, Again carry out reducing the scope process to guarantee the process that reduces the scope.Further with attribute IT, attribute RDI, Attribute DD, attribute AFR etc. carry out this concordance judgement, in order to carry out at finer coincidence judgement Reason, to guarantee to retrieve correct result.

At ensuing S320, reduce the scope of candidate road section, i.e. according to the uncorrelated attribute of shape, Candidate road section is extracted based on judged result.Specifically, carry out according to the uncorrelated attribute of shape at S310 The result that concordance judges determines that the section with a lot of consistent attribute is candidate road section.

At ensuing S310, carry out concordance judgement according to shape association attributes.In such a process, According to attribute BR, attribute PCI, attribute CA and property DC A, for the candidate road section determined at S320 And/or the node in determined section carries out concordance judgement.Will be described in what coincidence judgement processed after a while Details.

At ensuing S340, reduce the scope of candidate road section further, i.e. belong to according to shape is relevant Property, extract candidate road section based on judged result.Specifically, enter according to shape association attributes at S330 The result that row concordance judges determines that the section with a lot of consistent attribute is candidate road section.

<5.3.1 is according to shape uncorrelated attributive judgment concordance>

As described below, will be described in the concordance S310 is carried out according to the uncorrelated attribute of shape and judge. Figure 17 shows the example carrying out concordance judgement according to the uncorrelated attribute of shape.

At S311, carry out concordance judgement according to attribute FC.With reference to Fig. 5, as it has been described above, attribute FC Represent classification of road.In such a process, distributing to as classification of road and the object judging object Concordance is judged between the attribute FC of CP.

At ensuing S312, carry out concordance judgement according to attribute FW.With reference to Fig. 6, as it has been described above, Attribute FW represents physical road type.In such a process, distributing to as the physics judging object Concordance is judged between the attribute FW of road type and object CP.

At ensuing S313, carry out concordance judgement according to attribute IT.With reference to Fig. 7, as it has been described above, Attribute IT represents the classification at crossing.Therefore, only when object CP represents crossing, just carry out concordance Judge..

At least one in node and section has the attribute being equivalent to attribute IT.In view of this, at joint When point has the crossing classification information representing crossing classification, on the road about the node corresponding to object CP Concordance is judged between mouth classification information and the attribute IT of object CP.Additionally, there is expression in section During the crossing classification information classified in crossing, on the road of the node being connected to about section corresponding to object CP Concordance is judged between mouth classification information and the attribute IT of object CP.In the case of the latter, section It is likely to be of the crossing classification information about two nodes.Therefore, in this case, about joint Concordance is judged between crossing classification information and the attribute IT of one of point.

At ensuing S314, carry out concordance judgement according to attribute RFI.In the diagram, as above institute Stating, attribute RDI represents crossing title.Therefore, only when object CP represents crossing, just carry out consistent Property judge.In such a process, at the crossing title of the node corresponding with object CP and object CP Concordance is judged between attribute RDI.By judging whether crossing title includes as attribute RDI value Character string carry out this judgement.

At ensuing S315, carry out concordance judgement according to attribute DD and attribute AFR.With reference to Fig. 4, Attribute DD represents that lawful steering direction, attribute AFR are labelling, represents that attribute DD whether may be used With reference.In such a process, by the attribute DD of comparison other CP with as the road judging object The attribute (one-way traffic code) of section judges.Sentence when attribute AFR is arranged to 1 It is disconnected to represent that attribute DD is effective, except attribute DD is the situation of 0 (undefined).To be pointed out It is that attribute DD represents can steering direction relative to the road of particular traffic information.Therefore, based on attribute Comparison between DD and section one-way traffic code, it is impossible to carry out the forward direction/backward judgement of two.Therefore, In such a process, only judge whether road is unidirectional traffic way or two-way traffic road, do not judge The concordance in current direction (can steering direction).

<5.3.2 judges concordance according to shape association attributes>

As described below, will be described in the concordance S330 is carried out according to shape association attributes and judge. Figure 18 shows the example carrying out concordance judgement process according to shape association attributes.

At S331, carry out concordance judgement according to attribute BR.In the diagram, as it has been described above, attribute BR represents the geographical angle between follow-up CP.Section has the expression traveling according to the legal adjustment of regulation The attribute in direction.In view of this, the side that the attribute BR of the travel direction in section and object CP represents In time differing widely, carry out discordance judgement in such a process.Such as, it is contemplated that representing section The vector of travel direction point to angle between follow-up CP the vector that represented by attribute BR more than or Equal to carrying out discordance judgement during predetermined angular, predetermined angular e.g. 90 degree.It is to allow in section During along the two-way traffic road of two travel direction two ways, based on all representing two of travel direction Vector judges.

Such as, in the example of Figure 19 A, based on representing section L1 respectively, the travel direction of L2, L3 Vector VL1, the angle between the vector VB that VL21, VL22, VL3 and attribute BR represent is sentenced Disconnected.In this case, when the angle between two vectors is more than or equal to 90 degree, differ Cause judges.Specifically, the angle between vector VL1 and vector VB is more than or equal to 90 degree Time, carry out discordance judgement.It is similar to the judgement to vector VL1, carries out vector VL21, VL22, The judgement of VL3.Section L2 is two-way traffic road, to allow the two way of both direction.Therefore, The judgement of section L2 is carried out based on two the vector VL21, VL22 representing travel direction.

In this example of Figure 19, the angle between vector VB and vector VL1 is about 180 degree, And more than or equal to 90 degree.Therefore, discordance judgement is carried out for section L1.The arrow of section L2 Angle between amount VL22 and vector VB is more than or equal to 90 degree.Even so, the arrow of section L2 Angle between amount VL21 and vector VB is less than 90 degree.Therefore, concordance is carried out for section L2 Judge.Angle between the vector VL3 and vector VB of section L3 is less than 90 degree.Therefore, for road Section L3 carries out concordance judgement.

In this example, when angle is more than or equal to 90 degree, discordance judgement is carried out.Therefore, As shown in Figure 19 B, for the vector VB represented by attribute BR, represent for vector V1, V2 The travel direction in section carry out concordance judgement, for the traveling in the section represented by vector V3, V4 Direction carries out discordance judgement.

At the S332 of Figure 18, carry out concordance judgement process according to attribute PCI.In the diagram, as above Described, attribute PCI represents that same direction exists one of selected highway during a plurality of highway.

Attribute PCI includes highway quantity and represents the sequence number of road in highway.It is noted that at base When attribute PCI carries out concordance judgement process, need to identify the section of all parallel sensings.

In view of this, at the S333 of Figure 20, the region of search around object CP is set.It is contemplated that Region of search is arranged on the circle centered by object CP internal.More specifically, for example, it is possible to incite somebody to action Region of search is arranged on centered by object CP and has predetermined radii, such as within the circle of 150 meters. It is noted that a default value value as PCI attribute of region of search can be distributed.This In the case of, it is contemplated that region of search is arranged on centered by object CP and radius is such as 150 Within the preset distance of rice and the circle of default value sum.

At ensuing S334, extract the section in region of search.Attribute PCI includes types of indicators As an attribute.Therefore, in such a process, according to types of indicators in the direction along latitude Or draw virtual line on the direction of longitude, thus extract the section intersected with virtual line.

At ensuing S335, it is judged that the section quantity of extraction is the most consistent with highway quantity.Judging When the section quantity of extraction is consistent with highway quantity (S335: yes), at S336, based on sequence number identification road Section.Moreover, it is judged that the section identified is the most consistent with the section judging object.Then, basis is terminated The concordance of attribute PCI judges.Otherwise, when the section quantity extracted and highway quantity are inconsistent (S335: no), does not carries out the process of S336, terminates the concordance judgement according to attribute PCI and processes. In this case, omit the process of S326, because differing with highway quantity in the section quantity extracted During cause, false judgment can be made.

With reference to Figure 18, at S337, carry out concordance judgement according to attribute CA and property DC A.Reference Fig. 4, attribute CA represent the angle relative to bypass, and property DC A represents and the connection distance of bypass. In such a process, the direction of bypass is first detected.Specifically, as illustrated in fig. 21, belonging to Property CA when being negative value, it is determined that bypass is positioned at the left side of the direction, and the direction is represented by attribute BR and refers to To follow-up CP.Otherwise, as illustrated in fig. 21b, attribute CA be on the occasion of time, it is determined that bypass be positioned at attribute BR represents and points to the right side in direction of follow-up CP.When attribute CA is 0, it is impossible to identify bypass Direction.Therefore, in this case, concordance judgement process is not carried out.It follows that based on judgement Physical relation between the section of object and section bypass carries out the concordance of attribute CA and property DC A and sentences Disconnected.

In candidate's selection of S300 as above processes, selected as candidate around each CP The section of person.Perform the path adaptation in Fig. 3 and process (S400) to estimate to connect these sections, I.e. realize the section in the section connected between CP.

<5.4 path adaptation process>

The path adaptation being described below S400 processes.Figure 22 shows that path adaptation processes Individual example.In path adaptation processes, two CP are defined as object CP.Additionally, in two CP The CP of starting side is starting side CP, and in two CP, the CP on end side is end side CP.

<5.4.1 path search>

At S410, perform search and process with search by starting side candidate road section with end side candidate road section even The road connect.Starting side candidate road section is the section extracted for starting side CP.End side candidate road section It it is the section extracted for end side CP.In such a process, search for all by starting side candidate road section The road being connected with end side candidate road section.In shown in Figure 23 A a example, starting side CP is CPa, end side CP are CPb, and the section extracted for CPa is SL, the section extracted for CPb For GL.In this case, scan for processing starting side candidate road section SL and end side with search The road that candidate road section GL couples together.It is noted that search processes two for section SL Between any one in any one and two nodes GN1, GN2 of section GL of node SN1, SN2 All combinatorial search roads.More specifically, this process search connects SN1 and GN1 according to the sequence Road, according to the sequence connect SN1 and GN2 road, according to the sequence connect SN2 and GN1 Road and according to the sequence connect SN2 and GN2 road.

At ensuing S420, carry out selecting by road candidate.Carry out this process with based on variously-shaped Association attributes determines candidate roads in the road that S410 searches.At ensuing S430, based on The judged result of S420 reduces the scope of candidate roads.

At ensuing S440, it may be judged whether determine road uniquely.When determining road uniquely (S440: yes), in S450 output matching result, afterwards, terminates path adaptation and processes.Otherwise, When determining road the most uniquely (S440: no), do not carry out the process of S450, terminate path adaptation Process.

In this way, (S410 arrives to repeat path adaptation process for two paired object CP S440).It is to be noted at S410, it is convenient to omit the road of the result search that path adaptation to be utilized processes Road.

Such as, as shown in fig. 23b, it is assumed that determine uniquely from section SL through section CL to section The road of GL1, therefore carries out path adaptation process between CPa and CPb.In this case, reality is worked as Execute path adaptation to process, with search from CPb to the road of follow-up CP, search for from section GL1 connection Road.That is, even if when GL2 is present in candidate road section, also omits and start from section GL2 Path search processes.

Process additionally, omit path search according to the classification of CP.Specifically, such as, such as Figure 23 C Shown in, when CPb is crossing, CPb and the node GN2 representing crossing is consistent.Therefore, in this feelings Under condition, carry out path search for section GL and process to search for the node GN1 being connected to section GL Road.That is, this process searches for the road being connected by node SN1 with node GN1 and by node The road that SN2 is connected with node GN1.

As shown in fig. 23d, when CPb is virtual CP, and it is positioned at border, object section at node GN2 Time middle, node is starting side node or end side node.In view of this, connection is searched for section GL To the road of a node GN1, it is similar to example above.That is, this process is searched for node SN1 The road being connected with node GN1 and the road that node SN2 is connected with node GN1.

It is further contemplated that the road not searching again for having searched for, thus reduces path search and process institute The time needed.Such as, shown in solid as in Figure 24 A, it is assumed that first scan for processing and searching for To according to the sequence from the beginning of node N1, arrive the road of node N4 through node N2 and N3.? In this case, when starting to carry out for the second time path search process from node N1, path search is carried out Process the road starting to arrive through node N5 node N2 with search from node N1.It is noted that Through having carried out searching for the path search process of the road started from node N2.Therefore, do not search The path search of the road that rope starts from node N2 processes.

Additionally, when separating section from node, distribute priority for section, carry out path search process. Such as, when carrying out path search process from a certain node, calculate this specific node and be connected with object CP Reference direction.Next the angle between each section and the reference direction being connected with specific node is calculated Degree.Then, path search process in only by predetermined angular within section be set to object.At figure In example shown in 24B, carry out path search and process the road started from node N1 with search.At this In the case of Zhong, reference direction is arranged on the direction from CPa to CPb.Additionally, relative to benchmark side To calculating angle a1 of section N1, L2, L3, a2, the a3 being all connected with node N1.At this example In, angle a1, a2 are within predetermined angular, therefore, section L1, L2 are set to path search The object processed.Additionally, angle a3 is outside predetermined angular, therefore, from path search process right As getting rid of section L3.

Additionally, when scanning for processing from specific node, by classification of road and towards specific node The section that the classification of road in section is identical is set to the object that path search processes.Shown in Figure 24 C In example, start search from node N1 and start the road to CPc from CPb.In this case, false If the road between CPa to CPb being defined as section L1.Now, the road of section L1 divides Class represents national highway.Therefore, from the path search that node N1 starts, classification of road is represented national highway Section L2 be set to the object of path search.That is, from path search object, get rid of classification of road Represent the section L3 of county road.

The unnecessary path search completing S410 within the scheduled time processes.In view of this, Ke Yi Stop path search during process to process.

For example, it is contemplated that use attribute PD.In the example shown in Figure 25 A, it is assumed that CPa and CPb It is respectively provided with attribute PD.In this case, when searching for road from node N1 to node N2, edge Shape interpolated point K1, K2, K3, K4 and calculate cumulative distance.Ratio attribute PD is become at cumulative distance The big particular value of value or equal time, stop path search process.

For example, it is contemplated that use attribute PDM.Specifically, as shown in Figure 25 B, utilize CPa and The value of air line distance between CPb and attribute PDM calculates the distance in the U-shaped path represented along dotted line.? In this case, from node N1 to node N2 search for road time, along shape interpolated point K1, K2, K3, K4 calculate cumulative distance.Become bigger than the distance in the U-shaped path represented along dotted line at cumulative distance Particular value or equal time, stop path search.

Or, for example, it is contemplated that use interstitial content to be passed through.Specifically, at Figure 25 C In shown example, start road to node N2 with search from node N1 carrying out path search process Lu Shi, the node N3 that statistics is passed through therebetween, the number of N4, N5, N6.Nodes in statistics becomes During more than particular value, stop path search and process.

Or, for example, it is contemplated that utilize CP for crossing.In the example shown in Figure 25 D, it is assumed that CPa and CPb is respectively crossing.In this case, road all it is respectively at node N1 and node N2 During mouth, node N1 and node N2 overlaps with CPa and CPb respectively.Therefore, calculated in advance stage N1 And the air line distance between node N2.When search starts the road to node N2 from node N1, meter Calculation is by the cumulative distance in the path of node N3, N4, N5, N6.Then, in this case, exist Cumulative distance become than the big particular value of air line distance between the node N1 and node N2 of calculated in advance or Time equal, stop path search and process.

In any one of four kinds of methods as above, when decision error during processing stop way Road search processes.It therefore reduces the process load that path search processes.

<5.4.4 selects by road candidate>

Figure 22 Zhong Zhu road candidate selection is described below process.Figure 26 shows and selects by road candidate The example processed.Carry out selecting to process with for the road road one by one extracted between CP by road candidate Road (in units of road) judges " OK " or " NG ".

At S421, judge according to attribute CA, DCA.With reference to Fig. 4, as it has been described above, attribute CA Representing the angle relative to bypass, property DC A represents and the connection distance of bypass.In such a process, Judge whether the road section searched is bypass based on attribute CA and property DC A.It is being judged to bypass Time, section is made the judgement of NG.Specifically, as shown in the dotted line in Figure 27 A, at attribute CA And when including section around the coordinate that represents of property DC A, the road including this section is made NG and judges. Such as, Figure 27 B shows the road 1 and road 2 connected between CP.In this example, based on Attribute CA and property DC A judge that section is as bypass.Therefore, the road to the section included determining whether as bypass Road 1 is made NG and is judged.

At the S422 of Figure 26, judge according to attribute BR, DMB.In the diagram, as it has been described above, Attribute BR represent straight line that the angle between follow-up CP, attribute DMB represent between follow-up CP away from From.When there is deviation between the map datum of the data that attribute CP represents and navigator 10, can Identify it is further possible that road to utilize attribute BR and attribute DMB.In view of this, such as Figure 28 institute Show, utilize the attribute BR and attribute DMB of the CPa before CPb to carry out the road between CPb and CPc Judge.Specifically, the road to the section L including nearby coordinates that attribute BR and attribute DMB identify Road is made OK and is judged.In this case, the region H weight that the dotted line around section L and coordinate represents Folded.Judge for the road between CPb and CPc.Therefore, node or the section L to section L Shape interpolated point condition within presumptive area judge.For example, it is contemplated that according to connection Line segment and the attribute PDM of CPb and CPc define pre-in Figure 28 in the rectangular area shown in double dot dash line Determine region.Presumptive area is not limited to rectangular area, can define in by the ellipse of CPb and CPc.

At ensuing S423, judge according to attribute PD.In the diagram, as it has been described above, attribute The operating range that PD is and has between the follow-up CP of attribute PD.Therefore, according to searched for road Operating range judges whether the road searched is candidate.

Specifically, in the example shown in Figure 29, calculate the operating range between CPa and CPb. In this case, each of CP may not overlap with node.Therefore, draw vertical to section L1 from CPa Straight line, arranges intersection point M between vertical line and section L1.Additionally, further from CPb to section L3 Draw vertical line, intersection point N is set between vertical line and section L3.So calculate from crossing M to road Operating range between mouth N.

Obtain crossing M by the calculating operating range ratio (percentage ratio) relative to section L1 to arrive down The operating range of one node.Specifically, it is section L1's in the distance from crossing M to next node In the case of percent (%) M, the operating range of section L1 is multiplied by (m/100) and calculates from road Mouth M is to the operating range of next node.

Similarly, road is obtained by the calculating operating range ratio (percentage ratio) relative to section L3 Mouth N is to the operating range of previous node.Specifically, in the distance from crossing N to previous node it is In the case of percent (%) n of section L3, the operating range of section L3 is multiplied by (n/100) Calculate the operating range from crossing N to previous node.

It is noted that attribute PD may not be had each CP.In view of this, shown in Figure 30 A Example in, when CPa has attribute PD, and when CPb does not has attribute PD, do not carry out road Candidate judge, road is remained stationary.It follows that as shown in figure 30b, at CPc, there is attribute During PD, carry out road judgement based on attribute PD for the road between CPa and CPc.More specifically, To according to described order from section L1, through the candidate roads of section L2, L3, L5, L6 to section L10, According to the sequence from section L1, through the candidate roads of section L4, L5, L6 to section L10, by described Order is from section L1, through the candidate roads of section L2, L3, L5, L7, L8, L9 to section L10, And according to the sequence from section L1, through the candidate of section L4, L5, L7, L8, L9 to section L10 Road carries out NG judgement, in the example shown in Figure 30 C, retains from section L1, through section L2, L3, L5, L6 are to the road of section L10.In this case, between CPa and CPb, including The road of section L4, and between CPb and CPc, from the beginning of the L7 of section, through section L8 to section The road of L9 is made NG and is judged.

At ensuing S424, judge according to attribute PDM.In the diagram, as it has been described above, belong to The spacing distance that property PDM represents object road and opens with the linear interval being connected to follow-up CP.Carry out this Process to calculate operating range when travelling along road according to attribute PDM, and judge that the road searched for is whether For candidate roads.

Specifically, operating range when utilizing equation below to travel along road based on attribute PDM calculating:

PDM operating range=1/2 × (circumference of air line distance between a diameter of CP) × corrected value is (public Formula 5)

In such a process, according to the ratio of the half of air line distance value between CP and attribute PDM value from table Lattice find corrected value.Specifically, such as, in the example shown in Figure 31 A, CPa is represented with r And the half value of air line distance between CPb.In this case, find from the form shown in Figure 31 B The corrected value corresponding with ratio (PDM/r).Ratio (PDM/r) is the ratio of attribute PDM and distance r. Form shown in Figure 31 B is the exemplary portion extracted from example form.

Operating range along candidate roads is defined as road driving distance.Full in road driving distance During the condition that foot equation below defines, this road is made OK and judges:

＜ road driving distance ＜ PDM operating range × 1.5, PDM operating range × 0.5 (formula 6)

With reference to Figure 22, at S430, as it has been described above, reduce the scope of road according to these judged results. When determining road uniquely (S440: yes), in S450 output matching result.Matching result includes The road section ID in all sections of road of unique identification, starting point offset distance, end point offset distance Deng.Starting point offset distance represents the starting position of coupling in the section including road starting point.Class As, end point offset distance represents the end position of coupling in the section including road end point.

When determining road the most uniquely (S440: no), path adaptation processes unsuccessfully.In this situation Under, not output matching result.Otherwise, in the following example, road is determined uniquely.

In the example shown in Figure 32 A, it is assumed that search for searching for the road of the road from CPa to CPb The result that rope processes is to remain two road.One of article two, it is from node N1, warp according to described order Node N4, N5, N2 are to the road of node N3.Another is from node N1, warp according to described order Node N4, N5 are to the road of node N2.In this example, two road all include by thick line table Show from node N1, through the road of node N4, N5 to node N2, determine road the most uniquely.

In the example shown in Figure 32 B, it is assumed that search for searching for the road of the road from CPa to CPb The result that rope processes is to remain two road.One of article two, it is from node N1, warp according to described order Node N4, N5, N2 are to the road of node N3.Another is from node N1, warp according to described order Node N4, N6, N5, N2 are to the road of node N3.In this example, two road all include By thick line represent from node N1 to the road of node N4 and from the beginning of node N5, through node N2, to the road of node N3, determines road the most uniquely.

Or, in the example shown in Figure 32 B, it is contemplated that determine road (edge along road uniquely when travelling The road on road).As shown in fig. 32 c, such as, the road along road includes representing in symbol a therebetween The section of angle, this angle a be less than or equal to predetermined angular, such as 15 degree.

6. effect

As it has been described above, in the present embodiment, to section in the conversion process (S110) shown in Fig. 8 Virtual CP is distributed on border, calculates at S120 or recalculates the attribute of the CP including virtual CP.Connect down Come, CP reduced the scope to the CP in object section at S130.Then, carried out shown in Figure 12 Candidate road section search processes.

In the present embodiment, it is contemplated that map datum inputs in units of section, and node arrange On border, section, so producing virtual CP on border, section, this is new CP.By virtual CP with The node matching in section.Therefore, in follow-up candidate road section extraction process in fig. 12, can be from ground Diagram data suitably extracts the road candidates that section represents as CP.Therefore, according to about CP's The section corresponding with the road that CP represents can be suitably estimated in distributed intelligence in the section of map datum.

In the present embodiment, it is positioned at outside border, object section with reference to Figure 10 A, CPa and CPb. In such a case, it is possible to the value of dependence PDM derives the peak V of road shape.Additionally, be also derived The line segment that peak V with CPa of road shape is connected, and the line segment that peak V with CPb is connected.In It is that virtual CP is distributed to the intersection point between one of line segment and border, object section.Thus, having very much can Virtual CP can be distributed according to road shape.

Additionally, in the present embodiment, S120 in fig. 8 calculates the attribute of CP.Specifically, Virtual core point generation unit may be configured to distribution or redistribute following at least one: attribute CA With property DC A, it is to represent the angle with bypass and the bypass message of the connection distance to bypass；Attribute BR and attribute DMB, it is to represent the geographical angle with follow-up core point and the connection to follow-up core point The angle and distance information of distance；Attribute PD, it is to represent to travel between core point (CPa, CPb) The operating range information of distance；Attribute PDM, it is the straight line representing road with being connected to follow-up core point The spacing distance information of spacing distance；And attribute PCI, it is to represent putting down of the road extended in parallel Every trade sails transport information.In this way, more suitably can estimate in the section of map datum The section corresponding with the road that CP represents.

Additionally, in the present embodiment, CP is reduced the scope in object section by S130 in fig. 8 CP, afterwards, carry out candidate road section search process (Figure 12).In this way, only in section Including as process object CP become process object.Therefore, it can reduce and search for candidate road section The process time that rope processes.

In the present embodiment, navigator 10 can serve as road estimation device, and map datum input sets Standby 13 can serve as map data input unit, and the CPU 17a of control circuit 17 can serve as virtual Core point generation unit and section extraction unit.

In the conversion process of Fig. 8, the process of S110 and S120 can be served as virtual core point and be produced single Unit, the process of S130 can serve as section extraction unit.

Additionally, in an embodiment, section can be equivalent to zoning, and node can be equivalent to section Terminal, CPa and CPb shown in Figure 10 can be equivalent to pay close attention to core point.

As it has been described above, the invention is not restricted to above example, without departing from its inventive point, it is possible to should For various embodiments.

When S120 in fig. 8 calculates the attribute of CP, distribute or redistribute attribute CA and property DC A, I.e. bypass message；Attribute BR and attribute DMB, i.e. angle and distance information, attribute PD, i.e. travel away from From information, attribute PDM, i.e. separation distance information；And attribute PCI, the most parallel traveling transport information. Or, at least one in attribute CA, DCA, BR, DMB, PD, PDM and PCI can be allocated Or redistribute.

Summing up above-described embodiment, road estimation device is configured to receive from external object include multiple core The data of point.Along link allocation core point.Each being assigned for identifying road of core point Attribute.Road estimation device is configured to extract the road represented with core point corresponding (or coincidence) Section, on map estimate road.

In such a device, map data input unit is configured to input map datum.In zoning Unit in input map datum, zoning is multiple to be divided one of region.Map datum includes Terminal section in border, zoning.Map datum includes that attribute is corresponding with the attribute of core point Section.

In such a device, time above core point is present in border, zoning, virtual core point produces Raw unit produces virtual core point, is i.e. positioned in the map datum of map data input unit input and divides New core point in zone boundary.Additionally, virtual core point generation unit attribute based on core point to The virtual core point distributive property produced.

Section extraction unit be configured to the attribute of the attribute according to section and core point and virtual core point from Map datum extracts the road candidates that candidate road section, i.e. core point represent.

In brief, it is contemplated that map datum inputs in units of zoning, and the end in section Point is arranged in the border of zoning, so producing new core point in the border of zoning.In It is to calculate the attribute of new core point.Virtual core point is mated with the terminal in section.Therefore, road Section extraction unit suitably can extract, from map datum, the road candidate that section represents as core point Person.Therefore, it can from the distributed intelligence of core point suitably estimate the zoning of map datum with The section that road that core point represents is corresponding.

Assume to exist two core points (concern core point) on the border of zoning.In this situation Under, for example, it is assumed that at the straight line that concern core point is connected to each other and the intersection point on the border of zoning Upper generation virtual core point.

It is noted that the road between concern core point is not necessarily straight line.In view of this, such as, Virtual core point generation unit can be also used for the value according to attribute (PDM), i.e. spacing distance information and produces Raw virtual core point.Spacing distance information represents that road is away from the spacer connecting the straight line paying close attention to core point From (PDM).

Specifically, virtual core point generation unit can be also used for calculating the Feng Heguan with road shape Two line segments that note core point connects.According to the value of attribute (PDM), i.e. spacing distance information acquisition road The peak of road shape.In this case, virtual core point generation unit can be also used at one of line segment With generation virtual core point on the intersection point on border, zoning.Specifically, Figure 10 A shows CPa With CPb, pay close attention to core point, across the situation of the boundary alignment of zoning for i.e. two.This In the case of, the peak V of road shape can be derived with the value of dependence PDM.Additionally, be also derived road The line segment that peak V with CPa of shape is connected, and the line segment that peak V with CPb is connected.Then, will Virtual CP distributes to the intersection point between one of line segment and border, zoning.

Utilize the most in this way road the spacing distance value of information (attribute PDM) produce with The virtual core point that road shape is consistent.Therefore, it can from the distributed intelligence of core point at map datum Zoning in suitably estimate the section corresponding with the road that core point represents.

When using virtual core point in subsequent processes, can be according to the attribute distribution paying close attention to core point Or redistribute concern core point and the attribute of virtual core point.

Specifically, such as, when producing virtual core point, it is contemplated that utilize to be produced virtual The attribute paying close attention to core point is redistributed in core point position.Further, it is contemplated that according to redistributing Pay close attention to the attribute of the attribute distribution virtual core point of core point.In this way, can be appropriately arranged with The attribute of virtual core point.

Specifically, such as, virtual core point generation unit may be configured to distribution or redistributes Following at least one: attribute CA and property DC A, it is to represent the angle with bypass and the company to bypass Connect the bypass message of distance；Attribute BR and attribute DMB, it is to represent the geographical angle with follow-up core point Degree and the angle and distance information of the connection distance to follow-up core point；Attribute PD, it is to represent core The operating range information of operating range between point；Attribute PDM, it is to represent road and be connected to follow-up core The spacing distance information of the spacing distance of the straight line of heart point；And attribute PCI, it is to represent to extend in parallel The parallel traveling transport information of road.

The attribute that can pass through to distribute or redistribute concern core point and virtual core point produces effectively The effect above.At the extraction process that section extraction unit is carried out after reducing distribution virtual core point From the point of view of the angle of reason time, section extraction unit can be additionally used in from processing object eliminating as processing object Zoning in core point not to be covered.In this way, the work that only zoning includes Become processing object for processing the core point of object.Therefore, it can reduce what section extraction unit was carried out The process time of extraction process.

More than process, such as, calculate and judgement is not limited to be performed by control unit 17.Control unit is permissible There is various structure, including as the control unit 17 shown in example.

Above process can be performed by any one of software, circuit, plant equipment etc. or any combination, Such as calculate and judge.Software can be stored, it is possible to via the such as network equipment in storage medium Transmission equipment transmission.Circuit can be integrated circuit, it is possible to be discrete circuit, such as with electrically Or the isostructure hardware logic of electronic component.Producing the above element processed can be discrete elements, can With the most integrated.

Although it should be appreciated that being to include particular sequence by the process prescription of the embodiment of the present invention here Step, other including other sequences various of these steps the most undocumented and/or additional step replace Be also intended to be in the step of the present invention for embodiment within.

Above example can be made various amendment and substitute the spirit without deviating from the present invention.

Claims

1. one kind is configured to receive from external object (20) include multiple core point (CPa, the road estimation device of data CPb), along core point (CPa described in link allocation, CPb) and for it it is respectively allocated the attribute for identifying described road, described road estimation device is configured to extract and described core point (CPa, CPb) section (SL that the road that represents is corresponding, GL, CL), for estimating described road on map, described road estimation device includes:

Map data input unit (13), being configured to zoning (Pa, P2, P3) is the map datum that unit input includes section, described zoning is multiple zoning (Pa, one of P2, P3), each described section has described zoning (Pa, P2, P3) terminal in border, described section is respectively provided with the attribute corresponding with the attribute of described core point (CPa, CPb)；

Virtual core point generation unit (17a, S110, S120), it is configured at described core point (CPa, CPb) it is present in described zoning (Pa, P2, P3) time outside border, produce virtual core point, described virtual core point is the borderline new core point in zoning (Pa, P2, P3) described in the map datum that described map data input unit (13) inputs, and attribute of based on described core point (CPa, CPb) is to described virtual core point distributive property；And

Section extraction unit (17a, S130), it is configured to the attribute according to described section, described core point (CPa, CPb) attribute and the attribute of described virtual core point extract candidate road section from map datum, described candidate road section is the candidate of the road that described core point represents

Wherein:

Described virtual core point generation unit (17a, S110, S120) it is configured to the value according to the attribute PDM as spacing distance information and produces described virtual core point, described spacing distance information represents that road is away from connecting concern core point (CPa, the spacing distance PDM of straight line CPb), described concern core point (CPa, CPb) is present in described zoning (Pa, P2, P3) outside border.

Road estimation device the most according to claim 1, wherein said virtual core point generation unit (17a, S110, S120) is configured to:

Calculate the two lines section being connected with the peak (V) of road shape, described road shape is that the value according to the attribute PDM as described spacing distance information obtains, one of described two lines section connects one of the peak (V) of described road shape and described concern core point, another of the peak (V) of another described road shape of connection of described two lines section and described concern core point；And

Described virtual core point is produced on intersection point between one of described two lines section and the border of described zoning (Pa, P2, P3).

Road estimation device the most according to claim 1, wherein said virtual core point generation unit (17a, S110, S120) it is configured to according to described concern core point (CPa, CPb) attribute perform following at least one: redistribute described concern core point (CPa, CPb) attribute, and distribute the attribute of described virtual core point.

4. according to the road estimation device described in Claims 2 or 3, wherein said virtual core point generation unit (17a, S110, S120) it is configured to utilize the virtual core point position produced when producing described virtual core point to redistribute described concern core point (CPa, CPb) attribute, thus distributes the attribute of described virtual core point.

Road estimation device the most according to claim 3, wherein said virtual core point generation unit (17a, S110, S120) be configured to distribution or redistribute following at least one:

Attribute CA and property DC A, it is to represent the angle with bypass and the bypass message of the connection distance to described bypass；

Attribute BR and attribute DMB, it is to represent the geographical angle with follow-up core point and the angle and distance information of the connection distance to follow-up core point；

Attribute PD, it is to represent the operating range information of operating range between core point (CPa, CPb)；

Attribute PDM, it is the spacing distance information of the spacing distance representing road away from the straight line being connected with follow-up core point；And

Attribute PCI, it is the parallel traveling transport information representing the road extended in parallel.

6. according to the road estimation device described in Claims 2 or 3, wherein said section extraction unit (17a, S130) it is configured to from processing object eliminating as core point not to be covered in the described zoning (Pa, P2, P3) of described process object.